Torque sensor having a shunt spoke

ABSTRACT

The invention relates to a torque sensor having a base body ( 601 ) which extends in a radial direction (Y) of the base body from an annular inner flange ( 603 ) having first force application points ( 605 ), via a mechanically weakened sensor portion ( 607 ) equipped with measurement transducers ( 10, 20 ) which generate output signals, to an annular outer flange ( 509; 609 ) having second force application points ( 611 ), wherein the mechanically weakened sensor portion ( 607 ) comprises radially extending first connecting webs ( 619   a ) and second connecting webs ( 619   b ), which have different mechanical properties and are arranged alternately in the circumferential direction.

The invention relates to a torque sensor according to the preamble of patent claim 1.

A torque sensor in the form of a monolithic receiving component is known from document EP 1 353 159 A2.

The object underlying the invention is to provide a compact torque sensor of simple construction which permits improved torque measurement.

The object is achieved according to the invention by a torque sensor having the features mentioned in patent claim 1.

Such a torque sensor has a base body which extends in a radial direction of the base body from an annular inner flange having first force application points, via a mechanically weakened sensor portion equipped with measurement transducers which generate output signals, to an annular outer flange having second force application points, wherein the mechanically weakened sensor portion comprises radially extending first and second connecting webs which have different mechanical properties and are arranged alternately in the circumferential direction. “Radially extending” here means any profile of the mechanically weakened sensor portion that comprises at least one radial component. The radial profile can be exclusively radial, but profiles deviating therefrom with radial components are readily possible, for example a meandering profile. In particular, a width of the second connecting webs is smaller radially outwards than radially inwards.

In the torque sensor according to the invention, the first connecting webs can also be referred to as measurement spokes and the second connecting webs as so-called shunt spokes. In other words, for measuring a torque, a deformation (in particular bending) of the measurement spokes is primarily determined by means of suitable measurement transducers (e.g. the measuring strip), whereas the shunt spokes serve primarily to reduce, or compensate for, a radial deformation of the annular outer flange caused by a torque. Owing to the reduced width of the second connecting webs (shunt spokes) radially outwards, that is to say at the transition to the annular outer flange, a radial deformation at the outer flange can be minimized. In this manner, the second force application points are relieved so that, for example, there is no slippage of screw connections at the outer flange, which can be used to connect a component to the second force application points of the torque sensor.

The measurement accuracy is thereby increased significantly, since slippage of the screw connections, which usually tend to be weak, results in a significant impairment of the measurement accuracy of the torque sensor.

In addition, the shunt spokes relieve the measurement spokes, so that the measurement spokes can be made thinner, for example by making walls of the measurement spokes thinner. Thinner measurement spokes permit a simpler structural design (conventionally by the finite element method) and result in greater strain at the measurement transducer, which leads to higher resolution and thus to further increased measurement accuracy.

In preferred exemplary embodiments of the torque sensor according to the invention, the width of the second connecting webs decreases continuously from radially inwards to radially outwards.

In advantageous embodiments of the torque sensor according to the invention, an axial height of the first connecting webs and an axial height of the second connecting webs are equal. This saves on manufacturing costs without adversely affecting the measurement accuracy.

In one or more (or even all) of the first connecting webs there can be a cutout having an opening, such that a thin, membrane-like region in the measurement spoke is formed in the first connecting web opposite the opening. A measurement transducer is then preferably attached to each thin, membrane-like region. When a torque is applied, the greatest material stress occurs in such a membrane-like region, which leads to maximum strain at the measurement transducer, which can be, for example, in the form of a strain gauge. This increases the measurement resolution and thus the measurement accuracy. In preferred embodiments of the torque sensor, the measurement transducer is attached to the side of the thin, membrane-like region that faces away from the opening. The mentioned cutouts in the first connecting webs can be produced, for example, by reaming.

Preferably, the connecting webs are adapted for measuring shear and/or bending stresses.

Strain gauges serving as measurement transducers can be attached only to the first connecting webs or to both connecting webs. With the second alternative, the measuring range can be enlarged. In principle, by configuring the first and second connecting webs to be mechanically different, the surface strain measured by a strain gauge can differ despite the mechanical load being the same, that is to say in the present case with the same effective torque. Therefore, when mechanically different first and second connecting webs are present, the first connecting webs, for example, can be in such a form that strain gauges fixed thereto generate a relatively high wanted electrical signal even at low effective torques. With connecting webs in such a form, low torques can be measured with better resolution, but the measuring range is then also correspondingly smaller. In the chosen example, the second connecting webs can then be in such a form that strain gauges fixed thereto deliver good wanted electrical signals only at higher torques, which is advantageous for measuring higher torques. The measuring range of the strain gauges attached to the second connecting webs is then also correspondingly larger.

A stop flange, which is connected in a rotationally secure manner only to the inner flange and has at least one stop flange bore which is concentric with an axial outer flange bore in an unstressed basic state of the torque sensor, can extend parallel to the sensor portion on a side of the outer flange opposite the second force application points. In this manner, a stiffening possibility by means of one or more stop pins can be added as required in the event of overloading at the torque sensor. The mode of functioning corresponds to that described above in relation to the stop pins.

Preferably, the stop flange bore has a diameter which is different from that of the outer flange bore, wherein the bore having the smaller diameter can fix the stop pin. In this manner, as already mentioned above, one end of a stop pin having a constant diameter can be fixed either in the outer flange bore or in the stop flange bore, while the other end of the stop pin is surrounded in a contactless manner by the respective other of the outer flange bore or the stop flange bore in an unstressed basic state of the torque sensor.

Preferably, there are present in the stop flange a plurality of stop flange bores distributed equidistantly in the circumferential direction of the outer flange, which can lead to better load distribution in the circumferential direction in the event of overloading.

Preferably, the stop flange has stop flange bores located opposite one another at an equal distance in relation to a line through the central axis of the inner flange, which can lead to better load distribution in the radial direction in the event of overloading.

Preferably, a stop pin extending in the axial direction is fixed in either the outer flange bore or the stop flange bore and, in the unstressed basic state of the torque sensor, is circumferentially surrounded, in a contactless manner, by the opposite respective other of the outer flange bore or the stop flange bore.

By means of the above measures, breakage protection by overload can be provided simply and compactly in the torque sensor, so that plastic deformation of the torque sensor can also be avoided. The axial bores provided here are simpler to manufacture than radial bores. Furthermore, the gap between the stop pin and the corresponding stop flange bore or the outer flange bore can be chosen to be smaller than in the case of a radial orientation of the stop pin, see in this connection FIGS. 6a, 6b and 7a, 7b in EP 1 353 159 A2. In addition, a radially extending stop pin is more sensitive to axial deformations and tilting moments at the torque sensor.

The stop flange can be monolithically formed with the inner flange, which can permit a simple and compact construction.

Alternatively, the stop flange can be a component which is connected to the inner flange, preferably a component which is releasably connected to the inner flange. In this manner, a stiffer material can be chosen for the stop flange than for the base body of the torque sensor and in particular the sensor portion.

Preferably, the stop flange can be a component which is connected to the inner flange by an interference fit.

Preferably, the stop flange can be a component which is releasably connected to the inner flange by screws extending parallel to the axial direction of the base body. Alternatively, the stop flange can be connected to the inner flange by means of an adhesive connection, an adhesive connection and screws, or an interference fit and screws, or in another way.

A rubber-elastic sealing membrane arranged axially between the outer flange and the inner flange can cover the mechanically weakened sensor portion in a fluid-tight manner. This prevents, for example, fluid from being able to pass through a sensor portion provided with axial through-openings for mechanical weakening.

Preferably, the rubber-elastic sealing membrane is located axially between the second force application points and the mechanically weakened sensor portion. In this manner, the measurement transducers, or strain gauges, can reliably be protected against contact with fluid and, where present, a gear can be sealed.

The sealing membrane can be clamped to the torque sensor or adhesively bonded thereto.

Preferably, the sealing membrane is in the form of a disk-shaped annular membrane, whereby it can easily be introduced between the outer and inner flange.

Preferably, the sealing membrane is attached to the outer and/or inner flange.

Preferably, the sealing membrane is a molded rubber part, a turned rubber part, or a rubber part produced by means of water-jet machining.

Preferably, the sealing membrane has a modulus of elasticity which is lower than that of the base body by at least a factor of 10², preferably a modulus of elasticity which is lower by a factor of from 10³ to 10⁵, preferably a modulus of elasticity which is lower by a factor of from 10⁴ to 10⁵. Owing to the lower modulus of elasticity of the sealing membrane, the influence thereof on the deformation in the sensor portion is reduced still further.

The measurement transducers can be strain gauges which have a measurement grid portion connected to the base body and a free connecting portion, adjoining the measurement grid portion, having at least one electrical connection point. In this manner, the strain gauges can quickly and easily be attached at one end to a surface and at their other end to an electrical component.

Preferably, the at least one electrical connection point is a solder pad.

Preferably, the minimum distance between the electrical connection point and the measurement grid portion corresponds to the length of the measurement grid portion in its longitudinal direction, which facilitates handling of the strain gauge for attachment purposes.

Preferably, the connecting portion is elastic and/or strip-shaped.

Preferably, the connecting portion is bent in a preferential direction in an unstressed basic state, for example bent into a U-shape.

A holding portion, which is designed for temporarily holding the connecting portion on an electrical component, can adjoin the connecting portion on the other side of the at least one electrical connection point. The attachment of the other end of the strain gauge to an electrical component is thereby facilitated.

Preferably, the holding portion has a central through-bore or indentation. This can serve for temporarily holding the holding portion on an electrical component, for example by means of a screwdriver.

Preferably, the holding portion is self-adhesive. In this case, the holding portion could be temporarily held on an electrical component without a tool.

Preferably, the holding portion is rounded, which can prevent injury during handling thereof.

Preferably, the second force application points are connected to the sensor portion by a radially elastic material portion. In this manner, a high degree of decoupling can be achieved in the radial direction, so that, for example, it is possible to compensate for roundness deviations at the second force application points. Such roundness deviations can be caused, for example, by manufacturing tolerances. The consequence can be crosstalk of the measurement transducers. In order to avoid measuring errors caused thereby, the radially elastic material portion has low stiffness in respect of radial deformations, in order to compensate for axial forces and tilting moment, whereas it is virtually rigid in respect of torsional forces, that is to say has high stiffness. The radially elastic material portion can be so configured that deformations from axial forces and tilting moments are compensated for.

The radially elastic material portion can be a thin-walled material portion extending in the axial direction of the base body. The material portion does not have to extend solely in the axial direction but may also merely have an axial component. For example, such an axial material portion can be in conical or meandering form. Preferably, this thin-walled material portion is a portion extending only in the axial direction of the base body, that is to say a material portion extending solely in the axial direction.

Suitable as the measurement transducers are, for example, pressure- or tension-sensitive measurement transducers, for example strain gauges, but it is also possible to measure the angle difference between the inner flange and the outer flange of the torque sensor by means of an encoder. It is further also possible to use a magnetostrictive measuring method.

Preferably, the outer flange is monolithic or multi-part, wherein the radially elastic material portion and the second force application points preferably form one part.

Preferably, the thin-walled material portion is in the form of a thin-walled bottom of a groove extending in the outer flange in the circumferential direction. Preferably, the groove is located at the outer circumference or at the inner circumference of the outer flange. Overall, a compact construction of the torque sensor which is simple to manufacture is thus made possible.

The force application points can be bores or tooth spaces or a combination of the two, wherein the bores and/or the teeth forming the tooth spaces preferably extend in an axial direction of the base body. Here and hereinbelow, bores mean openings that are open on at least one side, for example openings with a circular or polygonal cross-section.

Preferably, the radially elastic material portion connects second force application points which are each in the form of a bore with third force application points, located on the outer flange and likewise each in the form of a bore, which, in an unstressed basic state of the torque sensor, are concentric. Such concentric second and third force application points can be manufactured in a simple manner by a drilling process.

In a third force application point in the form of a bore, which is located in the outer flange of the sensor (non-radially elastic material portion), there can be fixed a stop element, preferably in the form of a stop pin, which extends in the axial direction of the bore and, in the unstressed basic state of the torque sensor, is circumferentially surrounded, in a contactless manner, by a fourth force application point, likewise in the form of a bore. It is thereby possible in particular to avoid overloading of the mechanically weakened sensor portion, because the stop element is then in contact with the wall of the fourth force application point in the form of a bore and, by being supported in that manner, provides additional stiffening in the torque sensor. Preferably, the shape of the stop element is complementary to that of the third force application point, whereby the stop element can also be in the form of a hollow body. Preferably, third force application points in the form of bores have a different diameter to second force application points in the form of bores. This has the advantage that there can be used as the stop element, for example, a stop pin with a constant diameter, wherein the diameter thereof must correspond to the smaller diameter of the second and third force application points in the form of bores in order to be able to be surrounded in a contactless manner by the respective other of the second and third force application points in the form of bores.

Preferably, third force application points in the form of bores have a larger diameter than second force application points likewise in the form of bores. Advantageously, it is thus possible to check, from the end of a third force application point in the form of a through-bore that is remote from the second force application point, whether the one end of the stop element is actually surrounded in a contactless manner by the third force application point. The other end of the stop element, on the other hand, is fixed in the second force application point in the form of a bore and is not visible in the mounted state of the torque sensor.

Preferably, the second force application points are part of a portion which protrudes radially from the outer flange and from which the radially elastic material portion extends in the axial direction of the base body to the sensor portion. Simple mounting access to the second force application points is thus possible.

The outer flange can be monolithic, wherein the torque sensor can consist of steel, aluminum or an aluminum alloy.

Alternatively, the outer flange can be multi-part, wherein the radially elastic material portion and the second force application points preferably form a common part, which is preferably made of steel, while the other part of the outer flange can consist of aluminum or an aluminum alloy. This multi-part form makes it possible to choose a suitable material for each part. Thus, it is advantageous to manufacture the radially elastic part of the torque sensor from steel and the remaining part of the torque sensor from aluminum or an aluminum alloy, because the last-mentioned two materials do not have hysteresis and have low internal damping while having high strength. In the case of a torque sensor in monolithic form, it is therefore likewise advantageous to choose aluminum or an aluminum alloy as the material.

Preferably, the radially elastic material portion and the second force application points form a part which is releasably connected to the remainder of the outer flange, preferably by means of screws. In this manner, an outer flange part can be replaced quickly and inexpensively.

Preferably, the second force application points are monolithically formed with a housing, which can simplify production.

Preferably, the measurement transducers are strain gauges, the working principle of which can be electrical, optical or piezoelectric.

The invention will be explained in greater detail below by means of schematic drawings. Similar elements are thereby provided with similar reference numerals, whereby, in order to improve the legibility of the drawings, such reference numerals have in some cases been omitted. In the drawings:

FIG. 1 left—is a perspective oblique top view of a first torque sensor, and

-   -   right—is a cross-sectional view of the first, monolithic torque         sensor,

FIG. 2 right—is a perspective oblique bottom view of a second torque sensor, and

-   -   left—is a cross-sectional view of the second, monolithic torque         sensor,

FIG. 3 right—is a perspective oblique bottom view of a third torque sensor, and

-   -   left—is a cross-sectional view of the third, two-part torque         sensor,

FIG. 4 right—is a perspective oblique bottom view of a fourth torque sensor, and

-   -   left—is a cross-sectional view of the fourth, two-part torque         sensor,

FIG. 5 is a perspective view of a fifth torque sensor with identical connecting webs,

FIG. 6 is a perspective view of a sixth torque sensor with different connecting webs arranged alternately,

FIG. 7 is a cross-sectional view of a seventh torque sensor which is monolithically formed with a stop flange,

FIG. 8 is a cross-sectional view of an eighth torque sensor having a stop flange that is a component connected separately, by an interference fit, to the torque sensor,

FIG. 9 is a perspective exploded oblique bottom view of a ninth torque sensor, similar to the eighth torque sensor of FIG. 8, in which the stop flange is connected to the torque sensor by a screw connection,

FIG. 10 is a cross-sectional view of a tenth torque sensor with a clamped sealing membrane,

FIG. 11 is a cross-sectional view of an eleventh torque sensor with a sealing membrane adhesively bonded therein,

FIG. 12 is a cross-sectional view of the first torque sensor of FIG. 1 in a lightweight arrangement together with a Harmonic Drive gear,

FIG. 13 is an exploded view of the lightweight arrangement of FIG. 12,

FIG. 14 is an oblique top three-dimensional representation of a torque sensor similar to FIG. 6 with radially outwardly tapering second connecting webs,

FIG. 15 is an oblique bottom three-dimensional representation of the torque sensor of FIG. 14,

FIG. 16 top—shows a conventional strain gauge, and

-   -   bottom—shows a conventional fixing of the strain gauge, and

FIG. 17 top—shows an alternative strain gauge, and

-   -   bottom—shows a fixing of the alternative strain gauge.

FIG. 1 shows a first torque sensor 100 in monolithic form, having a base body 101 made of aluminum or an aluminum alloy which extends in a radial direction Y of the base body 101 from an annular inner flange 103 having first force application points 105, each in the form of a bore, via a mechanically weakened sensor portion 107 equipped with strain-sensitive measurement transducers which generate electrical output signals, see for example FIGS. 14 and 15, to an annular, monolithic outer flange 109. In a portion protruding radially from the outer flange 109 there are second force application points 111 each in the form of a bore, these second force application points 111 being connected in an axial direction X of the base body 101 to the sensor portion 107 via a radially elastic material portion 113 which extends in the axial direction X and is in the form of a thin-walled circumferential wall portion.

FIG. 2 shows a second torque sensor 200, likewise in monolithic form, in which the radially elastic material portion 213 is in the form of a thin-walled bottom of a groove 215 running around the outer circumference of the outer flange 209. The radially elastic material portion 213 connects the second force application points 211 to third force application points 211 a which are located on the outer flange 209 and are each in the form of a bore, and also to fourth force application points 211 b, likewise in the form of bores, which here serve as access openings. The access openings 211 b, in an unstressed basic state of the torque sensor 200, are arranged concentrically with the second force application points 211. However, it is also possible, as is described hereinbelow with reference to FIGS. 7 to 9, for an access opening 211 b also to serve as a force application point. For that purpose, a stop element can be fixed in one of the force application points 211, 211 b, which stop element extends in the axial direction X and, in the unstressed basic state of the torque sensor 200, is circumferentially surrounded, in a contactless manner, by the respective other force application point 211 b, 211. In the exemplary embodiment shown, the access openings 211 b have a larger diameter than the second force application points 211. Of course, the access openings 211 b can additionally or solely be used for allowing connecting elements, for example screws or bolts, to pass to the second force application points 211 in order to permit those connecting elements for attachment of a component, for example a sleeve or a housing, to the second force application points 211.

FIG. 3 shows a third torque sensor 300 having an outer flange 309 which, in contrast to FIGS. 1 and 2, is in multi-part form. A first part 309 a, made of aluminum or an aluminum alloy, of the multi-part outer flange 309 extends monolithically as a prolongation of the sensor portion 307, while a second part 309 b made of steel comprises the radially elastic material portion 313 and the second force application points 311. The second part 309 b is releasably connected to the first part 309 a by screws 310 extending parallel to the axial direction X.

FIG. 4 shows a fourth torque sensor 400, which differs from the third torque sensor 300 shown in FIG. 3 substantially in that its second force application points 411 are monolithically formed with a housing 417 which has a bearing seat 419 facing towards the central axis of the torque sensor 400.

FIG. 5 shows a fifth torque sensor 500 in which the annular, mechanically weakened sensor portion 507 is formed by radially extending connecting webs 519 which all have the same mechanical properties and are spaced apart from one another in the circumferential direction by cutouts 521. The connecting webs 519 are adapted for measuring shear and/or bending stresses, and measurement transducers in the form of strain gauges are attached to all the connecting webs 519. Measurement transducers of a first sensitivity and measurement transducers of a second sensitivity can thereby be attached alternately in the circumferential direction. Likewise, measurement transducers can be attached alternately at different points of the connecting webs 519.

FIG. 6 shows a sixth torque sensor 600 in which the annular, mechanically weakened sensor portion 607, in contrast to the fifth torque sensor 500 shown in FIG. 5, has radially extending first and second connecting webs 619 a, 619 b, the first connecting webs 619 a having different mechanical properties to the second connecting webs 619 b and being arranged alternately in the circumferential direction with cutouts 621 located between them. Measurement transducers are here attached to both connecting webs 619 a, 619 b. Alternatively, the measurement transducers can also be attached only to the first or second connecting webs 619 a, 619 b. The first measurement transducers attached to the first connecting webs 619 a only deliver signals of a first measuring range, and the second measurement transducers attached to the second connecting webs 619 b only deliver signals of a second measuring range, the measuring ranges being different from one another. One measuring range can lie within the other.

The connecting webs 519, 619 a can be formed corresponding to the connecting webs 14 with the measurement transducers 61 attached thereto as described in paragraphs [0043] to [0052] of EP 1 353 159 A2. Likewise, the connecting webs 619 b can be in solid form or also formed corresponding to the connecting webs 24 or 24′ with the measurement transducers 61 attached thereto as described in paragraphs [0055] to [0057] of EP 1 353 159 A2. The same also applies to all the other torque sensors having connecting webs described herein.

FIG. 7 shows a seventh torque sensor 700, which differs from the second torque sensor 200 shown in FIG. 2 substantially in that it is monolithically formed with a stop flange 723 which extends parallel to the sensor portion 707 on a side of the outer flange 709 opposite the second force application points 711. The stop flange 723 is connected in a rotationally secure manner only to the inner flange 703 and has a plurality of stop flange bores 725 (fourth force application points) which, in an unstressed basic state of the torque sensor 700, are concentric with the axial outer flange bores 711 and the third outer flange bores 711 a. The stop flange bores 725 have a larger diameter than the outer flange bores 711 and 711 a and are located opposite one another both equidistantly in the circumferential direction and at the same distance with respect to a line in the radial direction Y through the central axis of the inner flange 703. The stop elements 727 in the form of stop pins are fixed in the third outer flange bores 711 a and extend in the axial direction X, wherein, in the unstressed basic state of the torque sensor 700, they are circumferentially surrounded, in a contactless manner, by the stop flange bores 725. It is possible for either the stop flange bores 725 or the third outer flange bores 711 a, as shown here, to be in the form of through-bores or alternatively in the form of blind holes. In the case of overloading of the sensor portion 707, the stop pin 727 contacts the inside of the corresponding stop flange bore 725 and is supported there, in order to relieve the sensor portion 707.

FIG. 8 shows an eighth torque sensor 800, which differs from the seventh torque sensor 700 shown in FIG. 7 substantially in that its stop flange 823 is not monolithically formed with the inner flange 803 but is a separate component releasably connected to the inner flange 803. The stop flange 823 is connected to the inner flange 803 by an interference fit.

FIG. 9 shows a ninth torque sensor 900, which differs from the eighth torque sensor 800 shown in FIG. 8 substantially in that its stop flange 923 is connected to the inner flange 903 not by an interference fit but by screws (not shown) extending parallel to the axial direction X. For that purpose, corresponding complementary bores 929 a, 929 b are present on the inner flange 903 and on the stop flange 923.

FIG. 10 shows a tenth torque sensor 1000 which has a rubber-elastic sealing membrane 1031 for covering the mechanically weakened sensor portion 1007 on the torque sensor 1000 on one side in a fluid-tight manner. The sealing membrane 1031 is clamped annularly between the inner flange 1003 and the outer flange 1009 by means of screws 1033. Clamping to only one of the inner flange 1003 and the outer flange 1009 may be sufficient. The representation shown here is merely intended to illustrate that it is also possible only to attach the sealing membrane 1031 to conventional torque sensors, as known, for example, from EP 1 353 159 A2. By correspondingly prolonging the outer flange 1009 in the axial direction X beyond the screws 1033, the above-described radially elastic material portion 1013 can readily be provided, the second force application points 1011 being located at the end of such a prolongation.

FIG. 11 shows an eleventh torque sensor 1100, which differs from the tenth torque sensor 1000 shown in FIG. 10 substantially in that its sealing membrane 1131 is adhesively bonded to the torque sensor 1000 annularly between the inner flange 1103 and the outer flange 1109.

The sealing membrane 1031, 1131 of the tenth or eleventh torque sensor 1000, 1100 can be a molded rubber part, a turned rubber part, or a rubber part produced by water-jet cutting, a combination of clamping and adhesive bonding likewise being possible for fixing. The sealing membrane 1031, 1131 has a modulus of elasticity which is lower than that of the base body 1001, 1101 by at least a factor of 10², preferably a modulus of elasticity which is lower by a factor of from 10² to 10⁴, preferably a modulus of elasticity which is lower by a factor of from 10⁴ to 10⁵. The lower the modulus of elasticity of the sealing membrane in comparison with the base body, the less the sealing membrane falsifies the measurement result of the torque sensor.

FIG. 12 and FIG. 13 show the first torque sensor 100 of FIG. 1 in a lightweight arrangement 135 with a Harmonic Drive gear 137 which, from the inside outwards, has a wave generator 139, a flexspline 141 and a circular spline 143. The circular spline 143 is screwed to a housing 145, which in turn is mounted via a crossed roller bearing 147 on an output housing 149. The outer flange 109 of the torque sensor 100 is screwed to the output housing 149 by means of an output flange 151. The inner flange 103 of the torque sensor 100 is in turn screwed to the flexspline 141 via a threaded ring 153.

FIG. 14 and FIG. 15 show a torque sensor 600 a which is of similar construction to the torque sensor 600 shown in FIG. 6. The torque sensor 600 a accordingly has a base body 601 which extends in the radial direction Y, that is to say normally to a central longitudinal axis X, from an annular inner flange 603 having first force application points 605 to an annular outer flange 609 having second force application points 611. Radially between the annular inner flange 603 and the annular outer flange 609 there is a mechanically weakened sensor portion, designated generally 607, which is equipped with measurement transducers which generate output signals which allow a torque applied to a torque sensor 600 a to be determined. The sensor portion 607 comprises radially extending first connecting webs 619 a, which are also referred to as measurement spokes, and radially extending second connecting webs 619 b, which are also referred to as shunt spokes. The second connecting webs 619 b have a smaller width w radially outwards than radially inwards. In the exemplary embodiment shown in FIGS. 14 and 15, the second connecting webs 619 b taper continuously from radially inwards to radially outwards. The first connecting webs 619 a thus clearly have different mechanical properties to the second connecting webs 619 b, as is also the case with the torque sensor 600 shown in FIG. 6. As in the torque sensor 600, the first connecting webs 619 a and the second connecting webs 619 b are also arranged alternately in the circumferential direction, whereby cutouts 621 which punctuate the sensor portion 607 axially are in each case located between two connecting webs.

In the exemplary embodiment of the torque sensor 600 a shown in FIGS. 14 and 15, an axial height h1 of the first connecting webs 619 a is equal to an axial height h2 of the second connecting webs 619 b. In this manner, the sensor portion 607, and thus the torque sensor 600 a as a whole, is simpler to manufacture.

In the first connecting webs 619 a (measurement spokes) there are formed cutouts 622, which can also be referred to as measurement pockets and which locally reduce the axial height of the first connecting webs 619 a to such an extent that only a thin, membrane-like region 626 (see FIG. 15) remains opposite an opening 624 of the cutout 622. Such a membrane-like portion 626 is particularly suitable for detecting torque-induced material strains, for which reason a strain gauge 628 is attached to each of the membrane-like regions 626 in the exemplary embodiment shown (see FIG. 15).

FIG. 16 shows a conventional strain gauge 10, which is to be understood as being a measurement transducer designated above. The strain gauge 10 has a strip-shaped base body 11 with a measurement grid portion 13 at one end and an electrical connection point in the form of a solder pad 15 at an opposite, other end. In order electrically to connect this strain gauge 10, which can be fixed as a whole to a component 1, to an electrical component 3, lines 5 must first be soldered to the solder pad 15 and then to the electrical component 3.

FIG. 17 shows an alternative strain gauge 20, which differs from the conventional strain gauge 10 shown in FIG. 16 substantially in that it can be fixed to the component 1 only by its measurement grid portion 23 and in that, instead of separate lines 5, the strain gauge 20 has a connecting portion 24 adjoining the measurement grid portion 23, which connecting portion has the solder pad 25 at its end opposite the measurement grid portion 23 and the length of which corresponds at least to the measurement grid portion 23. The connecting portion 24 is strip-shaped and flexible, whereby it can be bent in a preferential direction even in an unstressed basic state, so that it is U-shaped, for example. The strain gauge 20 shown additionally has a rounded holding portion 27, which adjoins the connecting portion 24 on the other side of the solder pad 25 and is designed for temporarily holding the connecting portion 24 on the electrical component 3. For that purpose, the holding portion 27, as shown here, can have a central through-bore 29, or alternatively an indentation, into which an instrument for holding the strain gauge 20 on the electrical component 3 can be introduced. For that purpose, the holding portion 27 can further also or only be self-adhesive. 

1. A torque sensor having a base body which extends in a radial direction of the base body from an annular inner flange having first force application points, via a mechanically weakened sensor portion equipped with measurement transducers which generate output signals, to an annular outer flange having second force application points, wherein the mechanically weakened sensor portion comprises radially extending first connecting webs and second connecting webs, which have different mechanical properties and are arranged alternately in the circumferential direction, a width of the second connecting webs is smaller radially outwards than radially inwards, and in one or more of the first connecting webs there is a cutout having an opening, such that a thin, membrane-like region is formed in the first connecting web opposite the opening.
 2. The torque sensor as claimed in claim 1, wherein the width of the second connecting webs decreases continuously from radially inwards to radially outwards.
 3. The torque sensor as claimed in claim 1, wherein an axial height of the first connecting webs and an axial height of the second connecting webs are equal.
 4. The torque sensor as claimed in claim 1, wherein one of the measurement transducers is in each case attached to the thin, membrane-like region.
 5. The torque sensor as claimed in claim 4, wherein the measurement transducer is attached to a side of the thin, membrane-like region that faces away from the opening.
 6. The torque sensor as claimed in claim 1, wherein the measurement transducers are strain gauges.
 7. The torque sensor as claimed in claim 1, wherein the connecting webs are configured to measure at least one of shear and bending stresses, and the strain gauges are attached to at least one of the first connecting webs and the second connecting webs.
 8. The torque sensor as claimed in claim 7, wherein the second connecting webs are mechanically weaker than the first connecting webs, wherein only the second connecting webs configured to measure at least one of shear and bending stresses, and the strain gauges are attached only to the second connecting webs.
 9. The torque sensor as claimed in claim 1, wherein first ones of the strain gauges which deliver only signals of a first measuring range are attached to the first connecting webs, and second ones of the strain gauges which deliver only signals of a second measuring range are attached to the second connecting webs, wherein the first and second measuring ranges are different from one another, wherein one of the first and second measuring ranges is contained in the other of the first and second measuring ranges.
 10. The torque sensor as claimed in claim 1, wherein the measurement transducers are strain gauges which have a measurement grid portion connected to the base body and a free connecting portion which adjoins the measurement grid portion and has at least one electrical connection point.
 11. The torque sensor as claimed in claim 10, wherein a holding portion adjoins the connecting portion on the other side of the at least one connecting point, which holding portion is designed for temporarily holding the connecting portion on an electrical component. 